#!/usr/bin/env bash
set -euo pipefail

REPO=/home/ubuntu/Documents/01Proj/13atec/ATEC2026_Simulation_Challenge
OPENPI=/home/ubuntu/src/openpi-ebench-clean
OPENPI_PY=/home/ubuntu/envs/openpi-pi05/bin/python
ISAAC_PY=/home/ubuntu/envs/genmanip-isaac5-py311/bin/python

CONFIG="${CONFIG:-pi05_atec_task_e_s5_224}"
CHECKPOINT_DIR="${1:-${CHECKPOINT_DIR:-}}"
PORT="${PORT:-8015}"
ACTION_REPEAT="${ACTION_REPEAT:-5}"
STAMP="$(date +%Y%m%d%H%M%S)"
SERVER_LOG="$REPO/logs/pi05_policy_server_${STAMP}.log"
EVAL_DIR="$REPO/logs/pi05_eval_${STAMP}"

if [[ -z "$CHECKPOINT_DIR" ]]; then
  CHECKPOINT_DIR="$(find /home/ubuntu/projects/robotics_shared/checkpoints/openpi/atec_runs/checkpoints/"$CONFIG" -mindepth 2 -maxdepth 2 -type d -regex '.*/[0-9]+' 2>/dev/null | sort -V | tail -1 || true)"
fi
if [[ -z "$CHECKPOINT_DIR" || ! -d "$CHECKPOINT_DIR" ]]; then
  echo "[ERROR] Checkpoint dir not found. Pass it as argv[1] or set CHECKPOINT_DIR." >&2
  exit 1
fi

mkdir -p "$EVAL_DIR" "$REPO/logs/videos/task_e_pi05_eval"

export HF_LEROBOT_HOME=/home/ubuntu/projects/robotics_shared/datasets/lerobot
export HF_HOME=/home/ubuntu/projects/robotics_shared/hf_cache
export PYTHONPATH="$OPENPI/src:$OPENPI/packages/openpi-client/src"

cd "$OPENPI"
"$OPENPI_PY" scripts/serve_policy.py \
  --port "$PORT" \
  policy:checkpoint \
  --policy.config "$CONFIG" \
  --policy.dir "$CHECKPOINT_DIR" \
  > "$SERVER_LOG" 2>&1 &
server_pid=$!

cleanup() {
  kill "$server_pid" 2>/dev/null || true
}
trap cleanup EXIT

echo "[INFO] Started OpenPI server pid=$server_pid port=$PORT checkpoint=$CHECKPOINT_DIR"
for _ in $(seq 1 120); do
  if grep -q "Creating server" "$SERVER_LOG" 2>/dev/null; then
    break
  fi
  if ! kill -0 "$server_pid" 2>/dev/null; then
    echo "[ERROR] OpenPI server exited early. Tail:" >&2
    tail -80 "$SERVER_LOG" >&2 || true
    exit 1
  fi
  sleep 5
done

export OMNI_KIT_ACCEPT_EULA=YES
export PYTHONUNBUFFERED=1
export PYTHONPATH="/home/ubuntu/envs/genmanip-isaac5-py311/lib/python3.11/site-packages/isaaclab/source/isaaclab:/home/ubuntu/envs/genmanip-isaac5-py311/lib/python3.11/site-packages/isaaclab/source/isaaclab_assets:/home/ubuntu/envs/genmanip-isaac5-py311/lib/python3.11/site-packages/isaaclab/source/isaaclab_tasks:$REPO/source/atec_rl_lab:$REPO/scripts/act"

cd "$REPO"
for seed in 11 12 13; do
  video_arg=()
  if [[ "$seed" == "11" ]]; then
    video_arg=(--video_path "$REPO/logs/videos/task_e_pi05_eval/pi05_${CONFIG}_seed11_${STAMP}.mp4")
  fi
  "$ISAAC_PY" scripts/pi05/eval_task_e_pi05.py \
    --episodes 1 \
    --seed "$seed" \
    --host 127.0.0.1 \
    --port "$PORT" \
    --action_repeat "$ACTION_REPEAT" \
    --headless \
    --disable_fabric \
    "${video_arg[@]}" \
    > "$EVAL_DIR/seed${seed}.log" 2>&1
  tail -12 "$EVAL_DIR/seed${seed}.log"
done

"$ISAAC_PY" scripts/pi05/summarize_pi05_eval.py "$EVAL_DIR" || true
"$ISAAC_PY" scripts/pi05/compare_pi05_vs_act_baseline.py "$EVAL_DIR" --repo "$REPO" || true
echo "[INFO] Eval logs: $EVAL_DIR"
echo "[INFO] Server log: $SERVER_LOG"